지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2023.10
- 수록면
- 1,548 - 1,553 (6page)
이용수
초록· 키워드
오류제보하기
The study aims to control a robotic manipulator to achieve the trajectory-tracking of its end-effector. To the objective, a decentralized fuzzy control scheme is proposed. The desired motion trajectories including circular and cardioid shapes of the end-effector are planned such that the corresponding joint limits are mapped to the feasible working space by using the projective inverse kinematics. In the meantime, a common PID control is utilized to compare control performance with the proposed decentralized fuzzy control. Experimental results directly validate that the proposed decentralized fuzzy controller is capable of tracking desired angles of each joint and further achieves trajectory tracking of the end-effector. In addition, applying the proposed decentralized fuzzy control scheme can lead to better performance compared to the common PID control.
목차
Abstract
1. INTRODUCTION
2. SYSTEM DESCRIPTION AND PROJECTIVE INVERSE KINEMATICS
3. THE PROPOSED DECENTRALIZED FUZZY CONTROL DESIGN
4. EXPERIMENTAL RESULTS AND DISCUSSION
5. CONCLUSIONS
REFERENCES
참고문헌 (0)
참고문헌 신청함께 읽어보면 좋을 논문
논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!
-
Decentralized Control with Neural Network of Cooperative Robot Manipulator For Object Balancing Task on Flat Plate
제어로봇시스템학회 국제학술대회 논문집
2017 .10
-
Fuzzy PID Control by Grouping of Membership Functions of Fuzzy Antecedent Variables with Neutrosophic Set Approach and 3-D Position Tracking Control of a Robot Manipulator
Journal of Electrical Engineering & Technology
2018 .03
-
Performances Evaluation and Comparison of PID Controller and Fuzzy Logic Controller for Process Liquid Level Control
제어로봇시스템학회 국제학술대회 논문집
2015 .10
-
On Fuzzy Point Applications of Fuzzy Topological Spaces
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2023 .06
-
적응 제어 알고리즘을 이용한 자동차 능동 현가장치 제어 특성
한국소음진동공학회논문집
2024 .10
-
SOS 기법을 활용한 다항식 퍼지시스템의 H∞ 제어
제어로봇시스템학회 국내학술대회 논문집
2016 .03
-
Trajectory-Tracking Control of a Transport Robot for Smart Logistics Using the Fuzzy Controller
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2022 .03
-
T-S 퍼지 시스템의 퍼지 적분 슬라이딩 모드 추적 제어기 설계
제어로봇시스템학회 논문지
2018 .06
-
Design of Fuzzy-PID Controller for Path Tracking of Mobile Robot with Differential Drive
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2018 .09
-
Multi-Input Multi-Output Adaptive Torque Control of 9-DOF Hyper-Redundant Robotic Arm
제어로봇시스템학회 국제학술대회 논문집
2016 .10
-
Sampled-Data Observer-Based Decentralized Fuzzy Control for Nonlinear Large-Scale Systems
Journal of Electrical Engineering & Technology
2016 .05
-
Non-Linear Fuzzy- PID Controller Design for Track Following of Hard Disk Drive Servo System
제어로봇시스템학회 국제학술대회 논문집
2017 .10
-
Design of Honing Coolant Temperature Control System Based on Fuzzy Self-tuning PID
한국정보전자통신기술학회 논문지
2018 .04
-
Strong Law of Large Numbers for Fuzzy Random Variables in Fuzzy Metric Space
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2020 .12
-
On the Relationship among L-Fuzzy Relational Structures
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2024 .09
-
Robot Arm End-Effector Force Tracking Impedance Control with Sliding Perturbation Observer-Based Estimated Environment Force
제어로봇시스템학회 국제학술대회 논문집
2023 .10
-
A wireless decentralized control experimental platform for vibration control of civil structures
Smart structures and systems
2017 .01
-
On Mixed b-Fuzzy Topological Spaces
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2020 .09
-
Decentralized Fuzzy Observer Design for Discrete-Time Nonlinear Interconnected Systems with Parametric Uncertainties
전기학회논문지
2022 .02
-
Back-up Control of Truck-Trailer Vehicles with Practical Constraints : Computing Time Delay and Quantization
IEIE Transactions on Smart Processing & Computing
2015 .12
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-151-24-02-088266080